Hand-held robotic device for laparoscopic surgery and training

Laparoscopic surgery (LS) has revolutionized traditional surgical techniques introducing minimally invasive procedures for diagnosis and local therapies. LSs have undeniable advantages, such as small patient incisions, reduced postoperative pain and faster recovery. On the other hand, restricted vision of the anatomical target, difficult handling of the surgical instruments, restricted mobility inside the human body, need of dexterity to hand-eye coordination and inadequate and non-ergonomic surgical instruments may restrict LS only to more specialized surgeons. To overcome the referred limitations, this work presents a new robotic surgical handheld system – the EndoRobot. The EndoRobot was designed to be used in clinical practice or even as a surgical simulator. It integrates an electromechanical system with 3 degrees of freedom. Each degree can be manipulated independently and combined with different levels of sensitivity allowing fast and slow movements. As other features, the EndoRobot has battery power or external power supply, enables the use of bipolar radiofrequency to prevent bleeding while cutting and allows plug-and-play of the laparoscopic forceps for rapid exchange. As a surgical simulator, the system was also instrumented to measure and transmit, in real time, its position and orientation for a training software able to monitor and assist the trainee’s surgical movements.

Synthesis and Coordination Chemistry of a New N-4-Polydentate Class of Pyridyl-Functionalized Scorpionate Ligands: Complexes of Fe-II, Zn-II, V-IV, Pd-II and Use for Heterobimetallic Systems

The new potentially N-4-multidentate pyridyl-functionalized scorpionates 4-((tris-2,2,2-(pyrazol-1-ypethoxy)methyl)pyridine (TpmPy, (1)) and 4-((tris-2,2,2-(3-phenylpyrazol-1-yl)ethoxy)methyl)pyridine (TpmPy(Ph), (2)) have been synthesized and their coordination behavior toward Fe-II, Ni-II, Zn-II, Cu-II, Pd-II, and V-III centers has been studied. Reaction of (1) with Fe(BF4)(2)center dot 6H(2)O yields [Fe(TpmPy)(2)](BF4)(2) (3), that, in the solid state, shows the sandwich structure with trihapto ligand coordination via the pyrazolyl arms, and is completely low spin (LS) until 400 K. Reactions of 2 equiv of (1) or (2) with Zn-II or Ni-II chlorides give the corresponding metal complexes with general formula [MCl2(TpmPy*)(2)] (M = Zn, Ni; TpmPy* = TpmPy, TpmPy(Ph)) (4-7) where the ligand is able to coordinate through either the pyrazolyl rings (in case of [Ni(TpmPy)(2)Cl-2 (5)) or the pyridyl-side (for [ZnCl2(TpmPy)(2)] (4), [ZnCl2(TpmPy(Ph))(2)] (6) and [NiCl2(TpmPy(Ph))(2)] (7)). The reaction of (1) with VCl3 gives [VOCl2(TpmPy)] (8) that shows the N-3-pyrazolyl coordination-mode. Moreover, (1) and react with cis-[PdCl2(CH3CN)(2)] to give the disubstituted complexes [PdCl2(TprnPy)(2)] (9) and [PdCl2(TpmPy(Ph))(2)] (10), respectively, bearing the scorpionate coordinated via the pyridyl group. Compounds (9) and (10) react with Fe(BF4)(2) to give the heterobimetallic Pd/Fe systems [PdCl2(mu-TpmPy)(2)-Fe](BF4)(2) (11) and [PdCl2(mu-TpmPy(Ph))(2)Fe-2(H2O)(6)]BF4)(4) (13), respectively. Compound (11) can also be formed from reaction of (3) with cis-[PdCl2(CH3CN)(2)], while reaction of (3) with Cu(NO3)(2).2.5H(2)O generates [Fe(mu-TpmPy)(2)-Cu(NO3)(2)](BF4)(2) (12), confirming the multidentate ability of the new chelating ligands. The X-ray diffraction analyses of compounds (1), (3), (4), (5), and (9) are also reported.

Prestação de serviços de assessoria e fiscalização da obra de "reabilitação das coberturas, acessibilidades e segurança da antiga escola Veiga Beirão - Palácio Valadares, em Lisboa"

O presente relatório diz respeito a um estágio de natureza profissional realizado com o objectivo de constituir Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Civil no perfil de Edificações, do Instituto Superior de Engenharia de Lisboa. O estágio subordinado ao tema “Prestação de serviços de Assessoria, Fiscalização e Coordenação de Segurança da Obra de REABILITAÇÃO DAS COBERTURAS, ACESSIBILIDADES E SEGURANÇA DA ANTIGA ESCOLA VEIGA BEIRÃO – PALÁCIO VALADARES, EM LISBOA”, decorreu na Pengest – Planeamento, Engenharia e Gestão, S.A., empresa vocacionada para a prestação de serviços de Assessoria, Gestão, Coordenação e Fiscalização de Obras, sector no qual possui vasta e diversificada experiência, e reconhecidos mérito e competência. O objectivo da empreitada é o de recuperação deste imóvel, intervenção necessária à instalação no local da Exposição “República e Ensino” enquadrada no âmbito das Comemorações do Centenário da República. A empreitada foi adjudicada ao Empreiteiro Teixeira Duarte, S.A, pelo valor de €998.072,76. O prazo é de 4,5 meses prevendo-se a conclusão para 18 de Março de 2010. Embora a proposta de estágio tenha decorrido no início de 2010, no âmbito do tema que viria a ser proposto e de forma a integrar a Estagiária numa empresa em pleno funcionamento, o estágio teve início aquando do início da empreitada, em Novembro de 2009. Exceptuando os trabalhos de montagem da grua-torre e dos andaimes para a cobertura provisória, que decorreram antes da consignação, foi acompanhado todo o processo de Fiscalização. A Estagiária participou na análise do Plano de Trabalhos, nas vistorias às fracções autónomas e edifícios adjacentes, nas visitas à obra e na elaboração de relatórios mensais. Acompanhou os procedimentos da Pengest no Controlo do Planeamento, da Qualidade e Financeiro. Em relação à Coordenação de Segurança em obra, por ser um tema tão vasto e específico, teve acesso aos relatórios, não tendo efectivamente participado nas actividades desenvolvidas sobre esta matéria. Sob a co-orientação da Eng.ª Isabel Vicente, responsável da Fiscalização e orientação do Eng.º José Pedro Fernandes do ISEL, a estagiária desenvolveu este estágio de forma proveitosa, sempre com o auxílio de uma equipa experiente em Gestão e Fiscalização.

Evaluation of the improvements on pharmacy technicians' work practices after implementation of operational procedures

Several antineoplasic drugs have been demonstrated to be carcinogenic or to have mutagenic and teratogenic effects. The greatest protection is achieved with the implementation of administrative and engineering controls and safety procedures. Objective: to evaluate the improvements on pharmacy technicians' work practices, after the implementation of operational procedures related to individual protection, biologic safety cabinet disinfection and cytotoxic drug preparation. Method: case-study in a hospital pharmacy undergoing a certification process. Six pharmacy technicians were observed during their daily activities. Characterization of the work practices was made using a checklist based on ISOPP and PIC guidelines. The variables studied concerning cleaning/disinfection procedures, personal protective equipment and procedures for preparing cytotoxic drugs. The same work practices were evaluated after four months of operational procedures implementation. Concordance between work practices and guidelines was considered to be a quality indicator (guidelines concordance practices number/total number of practices x 100). Results: improvements were observed after operational procedures implementation. An improvement of 6,25% in personal protective equipment practice was achieved by changing second pair of gloves every thirty minutes. The major progress, 10%, was obtained in disinfection procedure, where 80% of tasks are now realized according to guidelines.By now, we hot an improvement of only 1% at drug preparation procedure by placing one cytotoxic drug at a time inside the biological safety cabinet. Then, 85% of practices are according to guidelines. Conclusion: before operational procedures implementation 80,3% of practices were according to the guidelines, while now is 84,4%. This indicates that is necessary to review the procedures frequently in the benefit to reduce the risks associated with handling cytotoxic drugs and maintenance of drug specifications.

Coordination Chemistry of the (eta(6)-p-Cymene)ruthenium(II) Fragment with Bis-, Tris-, andTetrakis(pyrazol-1-yl)borate Ligands: Synthesis, Structural, Electrochemical, and CatalyticDiastereoselective Nitroaldol Reaction Studies

Novel [Ru(eta(6)-p-cymene)(kappa(2)-L)X] and [Ru(eta(6)-p-cymene)(kappa(3)-L)]X center dot nH(2)O complexes (L = bis-, tris-, or tetrakis-pyrazolylborate; X = Cl, N-3, PF6, or CF3SO3) are prepared by treatment of [Ru(eta(6)-p-cymene)Cl-2](2) with poly-(pyrazolyl)borate derivatives [M(L)] (L in general; in detail L = Ph(2)Bp = diphenylbis-(pyrazol-1-yl)borate; L = Tp = hydrotris(pyrazol-1-yl)borate; L = pzTp = tetrakis(pyrazol-1-yl)borate; L = Tp(4Bo) = hydrotris(indazol-1-yl)borate, L = T-p4Bo,T-5Me = (5-methylindazol-1-yl)borate; L = Tp(Bn,4Ph) = hydrotris(3-benzyl-4-phenylpyrazol-1-yl)borate; M = Na, K, or TI) and characterized by analytical and spectral data (IR, ESIMS, H-1 and C-13 NMR). The structures of [Ru(eta(6)-p-cymene)(Ph(2)Bp)Cl] (1) and [Ru(eta(6)-p-cymene)(Tp)Cl] (3) have been established by single-crystal X-ray diffraction analysis. Electrochemical studies allowed comparing the electron-donor characters of Tp and related ligands and estimating the corresponding values of the Lever E-L ligand parameter. The complexes [Ru(eta(6)-p-cymene)-(kappa(2)-L)X] and [Ru(eta(6)-p-cymene)(kappa(3)-L)]X center dot nH(2)O act as catalyst precursors for the diastereoselective nitroaldol reaction of benzaldehyde and nitroethane to the corresponding beta-nitroalkanol (up to 82% yield, at room temperature) with diastereoselectivity toward the formation of the threo isomer.

Multi-criteria short-term maintenance outage scheduling in smart distribution systems

Effective legislation and standards for the coordination procedures between consumers, producers and the system operator supports the advances in the technologies that lead to smart distribution systems. In short-term (ST) maintenance scheduling procedure, the energy producers in a distribution system access to the long-term (LT) outage plan that is released by the distribution system operator (DSO). The impact of this additional information on the decision-making procedure of producers in ST maintenance scheduling is studied in this paper. The final ST maintenance plan requires the approval of the DSO that has the responsibility to secure the network reliability and quality, and other players have to follow the finalized schedule. Maintenance scheduling in the producers’ layer and the coordination procedure between them and the DSO is modelled in this paper. The proposed method is applied to a 33-bus distribution system.

Contrastive terminology: semitic, anglo-germanic and latin concept building through complex terms. (avoiding one-way method procedures in translation

This paper aims to present a contrastive approach between three different ways of building concepts after proving the similar syntactic possibilities that coexist in terms. However, from the semantic point of view we can see that each language family has a different distribution in meaning. But the most important point we try to show is that the differences found in the psychological process when communicating concepts should guide the translator and the terminologist in the target text production and the terminology planning process. Differences between languages in the information transmission process are due to the different roles the different types of knowledge play. We distinguish here the analytic-descriptive knowledge and the analogical knowledge among others. We also state that none of them is the best when determining the correctness of a term, but there has to be adequacy criteria in the selection process. This concept building or term building success is important when looking at the linguistic map of the information society.

Coordenação e fiscalização de obras na empresa Landway, S.A.

Relatório de Estágio para obtenção do grau de Mestre em Engenharia na Área de Especialização em Edificações

Interlimb coordination during the stance phase of gait in subjects with stroke

Objective: To analyze the relation between contralesional and ipsilesional limbs in subjects with stroke during step-to-step transition of walking. Design: Observational, transversal, analytical study with a convenience sample. Setting: Physical medicine and rehabilitation clinic. Participants: Subjects (nZ16) with poststroke hemiparesis with the ability to walk independently and healthy controls (nZ22). Interventions: Not applicable. Main Outcome Measures: Bilateral lower limbs electromyographic activity of the soleus (SOL), gastrocnemius medialis, tibialis anterior, biceps femoris, rectus femoris, and vastus medialis (VM) muscles and the ground reaction force were analyzed during double-support and terminal stance phases of gait. Results: The propulsive impulse of the contralesional trailing limb was negatively correlated with the braking impulse of the leading limb during double support (rZ .639, PZ.01). A moderate functional relation was observed between thigh muscles (rZ .529, PZ.035), and a strong and moderate dysfunctional relation was found between the plantar flexors of the ipsilesional limb and the vastus medialis of the contralesional limb, respectively (SOL-VM, rZ .80, P<.001; gastrocnemius medialis-VM, rZ .655, PZ.002). Also, a functional moderate negative correlation was found between the SOL and rectus femoris muscles of the ipsilesional limb during terminal stance and between the SOL (rZ .506, PZ.046) and VM (rZ .518, PZ.04) muscles of the contralesional limb during loading response, respectively. The trailing limb relative impulse contribution of the contralesional limb was lower than the ipsilesional limb of subjects with stroke (PZ.02) and lower than the relative impulse contribution of the healthy limb (PZ.008) during double support. Conclusions: The findings obtained suggest that the lower performance of the contralesional limb in forward propulsion during gait is related not only to contralateral supraspinal damage but also to a dysfunctional influence of the ipsilesional limb.

Ensaio sobre um sistema de um painel de uma divisória pré-fabricada

O setor da construção civil em Portugal sofre atualmente uma crise, como consequência da crise instalada no país. Além disso, a construção tradicional devido à sua rigidez espacial contribuiu para que os edifícios não se pudessem adaptar de uma forma simples, rápida e económica. Para contrabalançar esses factos a industrialização deverá ser encarada como uma das áreas com maior potencial de crescimento no futuro. A possibilidade de conceber um sistema que se adapta às constantes mudanças das necessidades humanas torna-se um dos grandes desafios da indústria da construção civil onde a pré-fabricação terá um papel fundamental. Neste ensaio estuda-se um sistema de divisórias leves amovíveis pré-fabricadas. No primeiro capítulo deste ensaio é elaborada uma síntese de conceitos que estão relacionados com as divisórias leves pré-fabricadas (industrialização e pré-fabricação), aborda-se a avaliação do sistema previsto ao nível da legislação e os passos a dar para verificação da viabilidade do sistema. No segundo capítulo faz-se uma distinção entre os vários tipos de pré-fabricação, definemse as exigências de desempenho e funcionais do sistema, aborda-se o conceito de coordenação modular e das tolerâncias de construção referindo a sua tremenda importância na pré-fabricação. Na parte final deste capítulo abordam-se exaustivamente as exigências de desempenho das paredes interiores não resistentes. No terceiro capítulo desenvolveu-se o sistema. Descrevem-se todos os componentes do sistema e a justificação da sua utilização. Elaboram-se três pré-avaliações: mecânica, acústica e térmica. Definem-se as ligações a serem utilizadas e pormenorizam-se todos os materiais das ligações. É apresentada uma avaliação económica de custos do sistema. Definem-se os procedimentos de: fabricação, transporte, montagem e desmontagem do sistema. No último capítulo apresentam-se as principais conclusões e os possíveis desenvolvimentos futuros.

Ensemble: an e-learning framework

E-Learning frameworks are conceptual tools to organize networks of elearning services. Most frameworks cover areas that go beyond the scope of e-learning, from course to financial management, and neglects the typical activities in everyday life of teachers and students at schools such as the creation, delivery, resolution and evaluation of assignments. This paper presents the Ensemble framework - an e-learning framework exclusively focused on the teaching-learning process through the coordination of pedagogical services. The framework presents an abstract data, integration and evaluation model based on content and communications specifications. These specifications must base the implementation of networks in specialized domains with complex evaluations. In this paper we specialize the framework for two domains with complex evaluation: computer programming and computer-aided design (CAD). For each domain we highlight two Ensemble hotspots: data and evaluations procedures. In the former we formally describe the exercise and present possible extensions. In the latter, we describe the automatic evaluation procedures.

Preparação e análise estrutural de complexos de samário

Trabalho Final de Mestrado para obtenção do grau de Mestre em Engenharia Química e Biológica - Ramo de Bioprocessos

Optimising protocol of acquisition and post-processing procedures in the assessment of coronary artery disease by computed tomography

Coronary artery disease (CAD) is currently one of the most prevalent diseases in the world population and calcium deposits in coronary arteries are one direct risk factor. These can be assessed by the calcium score (CS) application, available via a computed tomography (CT) scan, which gives an accurate indication of the development of the disease. However, the ionising radiation applied to patients is high. This study aimed to optimise the protocol acquisition in order to reduce the radiation dose and explain the flow of procedures to quantify CAD. The main differences in the clinical results, when automated or semiautomated post-processing is used, will be shown, and the epidemiology, imaging, risk factors and prognosis of the disease described. The software steps and the values that allow the risk of developingCADto be predicted will be presented. A64-row multidetector CT scan with dual source and two phantoms (pig hearts) were used to demonstrate the advantages and disadvantages of the Agatston method. The tube energy was balanced. Two measurements were obtained in each of the three experimental protocols (64, 128, 256 mAs). Considerable changes appeared between the values of CS relating to the protocol variation. The predefined standard protocol provided the lowest dose of radiation (0.43 mGy). This study found that the variation in the radiation dose between protocols, taking into consideration the dose control systems attached to the CT equipment and image quality, was not sufficient to justify changing the default protocol provided by the manufacturer.